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41 #include "precomp.hpp"
43 // The function calculates center of gravity and the central second order moments
44 static void icvCompleteMomentState( CvMoments* moments )
46 double cx = 0, cy = 0;
47 double mu20, mu11, mu02;
49 assert( moments != 0 );
50 moments->inv_sqrt_m00 = 0;
52 if( fabs(moments->m00) > DBL_EPSILON )
54 double inv_m00 = 1. / moments->m00;
55 cx = moments->m10 * inv_m00;
56 cy = moments->m01 * inv_m00;
57 moments->inv_sqrt_m00 = std::sqrt( fabs(inv_m00) );
60 // mu20 = m20 - m10*cx
61 mu20 = moments->m20 - moments->m10 * cx;
62 // mu11 = m11 - m10*cy
63 mu11 = moments->m11 - moments->m10 * cy;
64 // mu02 = m02 - m01*cy
65 mu02 = moments->m02 - moments->m01 * cy;
71 // mu30 = m30 - cx*(3*mu20 + cx*m10)
72 moments->mu30 = moments->m30 - cx * (3 * mu20 + cx * moments->m10);
74 // mu21 = m21 - cx*(2*mu11 + cx*m01) - cy*mu20
75 moments->mu21 = moments->m21 - cx * (mu11 + cx * moments->m01) - cy * mu20;
76 // mu12 = m12 - cy*(2*mu11 + cy*m10) - cx*mu02
77 moments->mu12 = moments->m12 - cy * (mu11 + cy * moments->m10) - cx * mu02;
78 // mu03 = m03 - cy*(3*mu02 + cy*m01)
79 moments->mu03 = moments->m03 - cy * (3 * mu02 + cy * moments->m01);
83 static void icvContourMoments( CvSeq* contour, CvMoments* moments )
85 int is_float = CV_SEQ_ELTYPE(contour) == CV_32FC2;
90 double a00, a10, a01, a20, a11, a02, a30, a21, a12, a03;
91 double xi, yi, xi2, yi2, xi_1, yi_1, xi_12, yi_12, dxy, xii_1, yii_1;
92 int lpt = contour->total;
94 a00 = a10 = a01 = a20 = a11 = a02 = a30 = a21 = a12 = a03 = 0;
96 cvStartReadSeq( contour, &reader, 0 );
100 xi_1 = ((CvPoint*)(reader.ptr))->x;
101 yi_1 = ((CvPoint*)(reader.ptr))->y;
105 xi_1 = ((CvPoint2D32f*)(reader.ptr))->x;
106 yi_1 = ((CvPoint2D32f*)(reader.ptr))->y;
108 CV_NEXT_SEQ_ELEM( contour->elem_size, reader );
117 xi = ((CvPoint*)(reader.ptr))->x;
118 yi = ((CvPoint*)(reader.ptr))->y;
122 xi = ((CvPoint2D32f*)(reader.ptr))->x;
123 yi = ((CvPoint2D32f*)(reader.ptr))->y;
125 CV_NEXT_SEQ_ELEM( contour->elem_size, reader );
129 dxy = xi_1 * yi - xi * yi_1;
136 a20 += dxy * (xi_1 * xii_1 + xi2);
137 a11 += dxy * (xi_1 * (yii_1 + yi_1) + xi * (yii_1 + yi));
138 a02 += dxy * (yi_1 * yii_1 + yi2);
139 a30 += dxy * xii_1 * (xi_12 + xi2);
140 a03 += dxy * yii_1 * (yi_12 + yi2);
142 dxy * (xi_12 * (3 * yi_1 + yi) + 2 * xi * xi_1 * yii_1 +
143 xi2 * (yi_1 + 3 * yi));
145 dxy * (yi_12 * (3 * xi_1 + xi) + 2 * yi * yi_1 * xii_1 +
146 yi2 * (xi_1 + 3 * xi));
154 double db1_2, db1_6, db1_12, db1_24, db1_20, db1_60;
156 if( fabs(a00) > FLT_EPSILON )
161 db1_6 = 0.16666666666666666666666666666667;
162 db1_12 = 0.083333333333333333333333333333333;
163 db1_24 = 0.041666666666666666666666666666667;
165 db1_60 = 0.016666666666666666666666666666667;
170 db1_6 = -0.16666666666666666666666666666667;
171 db1_12 = -0.083333333333333333333333333333333;
172 db1_24 = -0.041666666666666666666666666666667;
174 db1_60 = -0.016666666666666666666666666666667;
178 moments->m00 = a00 * db1_2;
179 moments->m10 = a10 * db1_6;
180 moments->m01 = a01 * db1_6;
181 moments->m20 = a20 * db1_12;
182 moments->m11 = a11 * db1_24;
183 moments->m02 = a02 * db1_12;
184 moments->m30 = a30 * db1_20;
185 moments->m21 = a21 * db1_60;
186 moments->m12 = a12 * db1_60;
187 moments->m03 = a03 * db1_20;
189 icvCompleteMomentState( moments );
195 /****************************************************************************************\
196 * Spatial Raster Moments *
197 \****************************************************************************************/
199 template<typename T, typename WT, typename MT>
200 #if defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ >= 5 && __GNUC_MINOR__ < 9
201 // Workaround for http://gcc.gnu.org/bugzilla/show_bug.cgi?id=60196
202 __attribute__((optimize("no-tree-vectorize")))
204 static void momentsInTile( const cv::Mat& img, double* moments )
206 cv::Size size = img.size();
208 MT mom[10] = {0,0,0,0,0,0,0,0,0,0};
210 for( y = 0; y < size.height; y++ )
212 const T* ptr = (const T*)(img.data + y*img.step);
213 WT x0 = 0, x1 = 0, x2 = 0;
216 for( x = 0; x < size.width; x++ )
228 WT py = y * x0, sy = y*y;
230 mom[9] += ((MT)py) * sy; // m03
231 mom[8] += ((MT)x1) * sy; // m12
232 mom[7] += ((MT)x2) * y; // m21
234 mom[5] += x0 * sy; // m02
235 mom[4] += x1 * y; // m11
242 for( x = 0; x < 10; x++ )
243 moments[x] = (double)mom[x];
249 template<> void momentsInTile<uchar, int, int>( const cv::Mat& img, double* moments )
254 cv::Size size = img.size();
256 MT mom[10] = {0,0,0,0,0,0,0,0,0,0};
257 bool useSIMD = cv::checkHardwareSupport(CV_CPU_SSE2);
259 for( y = 0; y < size.height; y++ )
261 const T* ptr = img.ptr<T>(y);
262 int x0 = 0, x1 = 0, x2 = 0, x3 = 0, x = 0;
266 __m128i qx_init = _mm_setr_epi16(0, 1, 2, 3, 4, 5, 6, 7);
267 __m128i dx = _mm_set1_epi16(8);
268 __m128i z = _mm_setzero_si128(), qx0 = z, qx1 = z, qx2 = z, qx3 = z, qx = qx_init;
270 for( ; x <= size.width - 8; x += 8 )
272 __m128i p = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(ptr + x)), z);
273 qx0 = _mm_add_epi32(qx0, _mm_sad_epu8(p, z));
274 __m128i px = _mm_mullo_epi16(p, qx);
275 __m128i sx = _mm_mullo_epi16(qx, qx);
276 qx1 = _mm_add_epi32(qx1, _mm_madd_epi16(p, qx));
277 qx2 = _mm_add_epi32(qx2, _mm_madd_epi16(p, sx));
278 qx3 = _mm_add_epi32(qx3, _mm_madd_epi16(px, sx));
280 qx = _mm_add_epi16(qx, dx);
282 int CV_DECL_ALIGNED(16) buf[4];
283 _mm_store_si128((__m128i*)buf, qx0);
284 x0 = buf[0] + buf[1] + buf[2] + buf[3];
285 _mm_store_si128((__m128i*)buf, qx1);
286 x1 = buf[0] + buf[1] + buf[2] + buf[3];
287 _mm_store_si128((__m128i*)buf, qx2);
288 x2 = buf[0] + buf[1] + buf[2] + buf[3];
289 _mm_store_si128((__m128i*)buf, qx3);
290 x3 = buf[0] + buf[1] + buf[2] + buf[3];
293 for( ; x < size.width; x++ )
305 WT py = y * x0, sy = y*y;
307 mom[9] += ((MT)py) * sy; // m03
308 mom[8] += ((MT)x1) * sy; // m12
309 mom[7] += ((MT)x2) * y; // m21
311 mom[5] += x0 * sy; // m02
312 mom[4] += x1 * y; // m11
319 for(int x = 0; x < 10; x++ )
320 moments[x] = (double)mom[x];
325 typedef void (*CvMomentsInTileFunc)(const cv::Mat& img, double* moments);
327 CV_IMPL void cvMoments( const void* array, CvMoments* moments, int binary )
329 const int TILE_SIZE = 32;
330 int type, depth, cn, coi = 0;
331 CvMat stub, *mat = (CvMat*)array;
332 CvMomentsInTileFunc func = 0;
333 CvContour contourHeader;
336 double buf[TILE_SIZE*TILE_SIZE];
337 uchar nzbuf[TILE_SIZE*TILE_SIZE];
339 if( CV_IS_SEQ( array ))
341 contour = (CvSeq*)array;
342 if( !CV_IS_SEQ_POINT_SET( contour ))
343 CV_Error( CV_StsBadArg, "The passed sequence is not a valid contour" );
347 CV_Error( CV_StsNullPtr, "" );
349 memset( moments, 0, sizeof(*moments));
353 mat = cvGetMat( mat, &stub, &coi );
354 type = CV_MAT_TYPE( mat->type );
356 if( type == CV_32SC2 || type == CV_32FC2 )
358 contour = cvPointSeqFromMat(
359 CV_SEQ_KIND_CURVE | CV_SEQ_FLAG_CLOSED,
360 mat, &contourHeader, &block );
366 icvContourMoments( contour, moments );
370 type = CV_MAT_TYPE( mat->type );
371 depth = CV_MAT_DEPTH( type );
372 cn = CV_MAT_CN( type );
374 cv::Size size = cvGetMatSize( mat );
376 if( cn > 1 && coi == 0 )
377 CV_Error( CV_StsBadArg, "Invalid image type" );
379 if( size.width <= 0 || size.height <= 0 )
382 if( binary || depth == CV_8U )
383 func = momentsInTile<uchar, int, int>;
384 else if( depth == CV_16U )
385 func = momentsInTile<ushort, int, int64>;
386 else if( depth == CV_16S )
387 func = momentsInTile<short, int, int64>;
388 else if( depth == CV_32F )
389 func = momentsInTile<float, double, double>;
390 else if( depth == CV_64F )
391 func = momentsInTile<double, double, double>;
393 CV_Error( CV_StsUnsupportedFormat, "" );
397 for( int y = 0; y < size.height; y += TILE_SIZE )
400 tileSize.height = std::min(TILE_SIZE, size.height - y);
402 for( int x = 0; x < size.width; x += TILE_SIZE )
404 tileSize.width = std::min(TILE_SIZE, size.width - x);
405 cv::Mat src(src0, cv::Rect(x, y, tileSize.width, tileSize.height));
409 cv::Mat tmp(tileSize, depth, buf);
410 int pairs[] = {coi-1, 0};
411 cv::mixChannels(&src, 1, &tmp, 1, pairs, 1);
416 cv::Mat tmp(tileSize, CV_8U, nzbuf);
417 cv::compare( src, 0, tmp, CV_CMP_NE );
427 for( int k = 0; k < 10; k++ )
431 double xm = x * mom[0], ym = y * mom[0];
433 // accumulate moments computed in each tile
436 moments->m00 += mom[0];
438 // + m10 ( = m10' + x*m00' )
439 moments->m10 += mom[1] + xm;
441 // + m01 ( = m01' + y*m00' )
442 moments->m01 += mom[2] + ym;
444 // + m20 ( = m20' + 2*x*m10' + x*x*m00' )
445 moments->m20 += mom[3] + x * (mom[1] * 2 + xm);
447 // + m11 ( = m11' + x*m01' + y*m10' + x*y*m00' )
448 moments->m11 += mom[4] + x * (mom[2] + ym) + y * mom[1];
450 // + m02 ( = m02' + 2*y*m01' + y*y*m00' )
451 moments->m02 += mom[5] + y * (mom[2] * 2 + ym);
453 // + m30 ( = m30' + 3*x*m20' + 3*x*x*m10' + x*x*x*m00' )
454 moments->m30 += mom[6] + x * (3. * mom[3] + x * (3. * mom[1] + xm));
456 // + m21 ( = m21' + x*(2*m11' + 2*y*m10' + x*m01' + x*y*m00') + y*m20')
457 moments->m21 += mom[7] + x * (2 * (mom[4] + y * mom[1]) + x * (mom[2] + ym)) + y * mom[3];
459 // + m12 ( = m12' + y*(2*m11' + 2*x*m01' + y*m10' + x*y*m00') + x*m02')
460 moments->m12 += mom[8] + y * (2 * (mom[4] + x * mom[2]) + y * (mom[1] + xm)) + x * mom[5];
462 // + m03 ( = m03' + 3*y*m02' + 3*y*y*m01' + y*y*y*m00' )
463 moments->m03 += mom[9] + y * (3. * mom[5] + y * (3. * mom[2] + ym));
467 icvCompleteMomentState( moments );
471 CV_IMPL void cvGetHuMoments( CvMoments * mState, CvHuMoments * HuState )
473 if( !mState || !HuState )
474 CV_Error( CV_StsNullPtr, "" );
476 double m00s = mState->inv_sqrt_m00, m00 = m00s * m00s, s2 = m00 * m00, s3 = s2 * m00s;
478 double nu20 = mState->mu20 * s2,
479 nu11 = mState->mu11 * s2,
480 nu02 = mState->mu02 * s2,
481 nu30 = mState->mu30 * s3,
482 nu21 = mState->mu21 * s3, nu12 = mState->mu12 * s3, nu03 = mState->mu03 * s3;
484 double t0 = nu30 + nu12;
485 double t1 = nu21 + nu03;
487 double q0 = t0 * t0, q1 = t1 * t1;
489 double n4 = 4 * nu11;
490 double s = nu20 + nu02;
491 double d = nu20 - nu02;
494 HuState->hu2 = d * d + n4 * nu11;
495 HuState->hu4 = q0 + q1;
496 HuState->hu6 = d * (q0 - q1) + n4 * t0 * t1;
501 q0 = nu30 - 3 * nu12;
502 q1 = 3 * nu21 - nu03;
504 HuState->hu3 = q0 * q0 + q1 * q1;
505 HuState->hu5 = q0 * t0 + q1 * t1;
506 HuState->hu7 = q1 * t0 - q0 * t1;
510 CV_IMPL double cvGetSpatialMoment( CvMoments * moments, int x_order, int y_order )
512 int order = x_order + y_order;
515 CV_Error( CV_StsNullPtr, "" );
516 if( (x_order | y_order) < 0 || order > 3 )
517 CV_Error( CV_StsOutOfRange, "" );
519 return (&(moments->m00))[order + (order >> 1) + (order > 2) * 2 + y_order];
523 CV_IMPL double cvGetCentralMoment( CvMoments * moments, int x_order, int y_order )
525 int order = x_order + y_order;
528 CV_Error( CV_StsNullPtr, "" );
529 if( (x_order | y_order) < 0 || order > 3 )
530 CV_Error( CV_StsOutOfRange, "" );
532 return order >= 2 ? (&(moments->m00))[4 + order * 3 + y_order] :
533 order == 0 ? moments->m00 : 0;
537 CV_IMPL double cvGetNormalizedCentralMoment( CvMoments * moments, int x_order, int y_order )
539 int order = x_order + y_order;
541 double mu = cvGetCentralMoment( moments, x_order, y_order );
542 double m00s = moments->inv_sqrt_m00;
544 while( --order >= 0 )
546 return mu * m00s * m00s;
555 m00 = m10 = m01 = m20 = m11 = m02 = m30 = m21 = m12 = m03 =
556 mu20 = mu11 = mu02 = mu30 = mu21 = mu12 = mu03 =
557 nu20 = nu11 = nu02 = nu30 = nu21 = nu12 = nu03 = 0.;
560 Moments::Moments( double _m00, double _m10, double _m01, double _m20, double _m11,
561 double _m02, double _m30, double _m21, double _m12, double _m03 )
563 m00 = _m00; m10 = _m10; m01 = _m01;
564 m20 = _m20; m11 = _m11; m02 = _m02;
565 m30 = _m30; m21 = _m21; m12 = _m12; m03 = _m03;
567 double cx = 0, cy = 0, inv_m00 = 0;
568 if( std::abs(m00) > DBL_EPSILON )
571 cx = m10*inv_m00; cy = m01*inv_m00;
578 mu30 = m30 - cx*(3*mu20 + cx*m10);
579 mu21 = m21 - cx*(2*mu11 + cx*m01) - cy*mu20;
580 mu12 = m12 - cy*(2*mu11 + cy*m10) - cx*mu02;
581 mu03 = m03 - cy*(3*mu02 + cy*m01);
583 double inv_sqrt_m00 = std::sqrt(std::abs(inv_m00));
584 double s2 = inv_m00*inv_m00, s3 = s2*inv_sqrt_m00;
586 nu20 = mu20*s2; nu11 = mu11*s2; nu02 = mu02*s2;
587 nu30 = mu30*s3; nu21 = mu21*s3; nu12 = mu12*s3; nu03 = mu03*s3;
590 Moments::Moments( const CvMoments& m )
592 *this = Moments(m.m00, m.m10, m.m01, m.m20, m.m11, m.m02, m.m30, m.m21, m.m12, m.m03);
595 Moments::operator CvMoments() const
598 m.m00 = m00; m.m10 = m10; m.m01 = m01;
599 m.m20 = m20; m.m11 = m11; m.m02 = m02;
600 m.m30 = m30; m.m21 = m21; m.m12 = m12; m.m03 = m03;
601 m.mu20 = mu20; m.mu11 = mu11; m.mu02 = mu02;
602 m.mu30 = mu30; m.mu21 = mu21; m.mu12 = mu12; m.mu03 = mu03;
603 double am00 = std::abs(m00);
604 m.inv_sqrt_m00 = am00 > DBL_EPSILON ? 1./std::sqrt(am00) : 0;
611 cv::Moments cv::moments( InputArray _array, bool binaryImage )
614 Mat arr = _array.getMat();
616 cvMoments(&c_array, &om, binaryImage);
620 void cv::HuMoments( const Moments& m, double hu[7] )
622 double t0 = m.nu30 + m.nu12;
623 double t1 = m.nu21 + m.nu03;
625 double q0 = t0 * t0, q1 = t1 * t1;
627 double n4 = 4 * m.nu11;
628 double s = m.nu20 + m.nu02;
629 double d = m.nu20 - m.nu02;
632 hu[1] = d * d + n4 * m.nu11;
634 hu[5] = d * (q0 - q1) + n4 * t0 * t1;
639 q0 = m.nu30 - 3 * m.nu12;
640 q1 = 3 * m.nu21 - m.nu03;
642 hu[2] = q0 * q0 + q1 * q1;
643 hu[4] = q0 * t0 + q1 * t1;
644 hu[6] = q1 * t0 - q0 * t1;
647 void cv::HuMoments( const Moments& m, OutputArray _hu )
649 _hu.create(7, 1, CV_64F);
650 Mat hu = _hu.getMat();
651 CV_Assert( hu.isContinuous() );
652 HuMoments(m, (double*)hu.data);